Supplemental braking control system in autonomous vehicles

ABSTRACT

Described are devices, systems and methods for managing a supplemental brake control system in autonomous vehicles. In some aspects, a supplemental brake management system includes brake control hardware and software that operates with a sensing mechanism for determining the brake operational status and a control mechanism for activating the supplemental brake control in an autonomous vehicle, which can be implemented in addition to the vehicle&#39;s primary brake control system.

PRIORITY CLAIM

This patent document claims priority to the provisional application withSer. No. 62/900,430, titled “Supplemental Braking Control System inAutonomous Vehicles,” filed on Sep. 13, 2019. The entire contents of theabove noted provisional application are hereby incorporated by referenceas part of the disclosure of this document.

TECHNICAL FIELD

This patent document relates to braking control of autonomous vehicles.

BACKGROUND

Autonomous or “self-driving” vehicles are vehicles capable of sensingtheir environment and moving without a human driver in control.Autonomous vehicles use navigation technology for sensing the positionand movement of a vehicle and, based on the sensing, autonomouslycontrolling the vehicle to navigate towards a destination. Autonomousvehicle navigation may be used in transportation of people, goods andservices.

SUMMARY OF CERTAIN EMBODIMENTS

The techniques disclosed herein can be implemented in variousembodiments to achieve a supplemental braking control system inautonomous vehicles, as well as methods of producing and managingsupplemental braking control system.

One aspect of the disclosed embodiments relates to a system for managingbraking in an autonomous vehicle that includes a vehicle control unitcomprising a processor and a memory of the vehicle control unit. Thevehicle control unit is configured to provide control signals tosubsystems of the autonomous vehicle including a steering subsystem, athrottle subsystem and a primary braking subsystem including primarybrakes coupled to at least one wheel of the autonomous vehicle. Thevehicle control unit is also configured to provide control signals toautonomous control modules that are configured to control autonomousdriving functionalities of the autonomous vehicle. The autonomouscontrol modules include a steering control module, a throttle controlmodule and a primary braking control module, wherein the primary brakingcontrol module is in communication with the primary braking subsystem.The system for managing braking in an autonomous vehicle furtherincludes a supplemental braking subsystem including supplemental brakesat one or more wheels of the autonomous vehicle. The system for managingbraking in an autonomous vehicle also includes a supplemental brakingmanagement unit configured to monitor braking of the primary brakingsubsystem and regulate braking of the supplemental braking subsystem.

Another aspect of the disclosed embodiments relates to a method ofmanaging braking in an autonomous vehicle that includes monitoringbraking of a primary braking subsystem and regulating braking of asupplemental braking subsystem. The primary braking subsystem includesprimary brakes coupled to at least one wheel of the autonomous vehicle,and the supplemental braking subsystem includes supplemental brakes atone or more wheels of the autonomous vehicle.

Yet another aspect of the disclosed embodiments relates to a method ofproducing a supplementary braking system for an autonomous vehicle. Themethod includes providing a manufactured vehicle operable for autonomousdriving. The manufactured vehicle includes a vehicle control unitcomprising a processor and a memory of the vehicle control unit. Thevehicle control unit is configured to provide control signals tosubsystems of the manufactured vehicle including a steering subsystem, athrottle subsystem and a primary braking system including primary brakescoupled to at least one wheel of the manufactured vehicle. The vehiclecontrol unit is also configured to provide control signals to autonomouscontrol modules configured to control autonomous driving functionalitiesof the manufactured vehicle. The autonomous control modules include asteering control module, a throttle control module and a primary brakingcontrol module, wherein the primary braking control module is configuredto control the primary braking system. The method further includesaugmenting the manufactured vehicle with a supplemental braking systemincluding supplemental brakes at one or more wheels of the manufacturedvehicle. The method also includes providing a supplemental brakingmanagement unit in the manufactured vehicle that is in communicationwith the vehicle control unit for monitoring braking in the primarybraking system and regulating braking in the supplemental brakingsystem.

In some aspects of the disclosed technology, a supplemental brakemanagement system includes brake control hardware and software thatoperates with a sensing mechanism for determining the brake operationalstatus and a control mechanism for activating the supplemental brakecontrol in an autonomous vehicle, which can be implemented in additionto the vehicle's primary brake control system.

A system of managing braking in an autonomous vehicle as describedherein comprises a vehicle control unit, a supplemental brakingsubsystem, and a supplemental braking management unit. The vehiclecontrol unit includes a processor and a memory. The vehicle controluntil is configured to provide control signals to the subsystems of theautonomous vehicle and autonomous control modules. The subsystems of theautonomous vehicle include a steering subsystem, a throttle subsystem,and a primary braking subsystem including primary brakes coupled to atleast one wheel of the autonomous vehicle. The autonomous controlmodules are configured to control autonomous driving functionalities ofthe autonomous vehicle, including a steering module, a throttle controlmodule, and a primary braking control module. The primary brakingcontrol modules is in communication with the primary braking subsystem.The supplemental braking subsystem includes supplemental brakes at oneor more wheels of the autonomous vehicle. The supplemental brakingmanagement unit is configured to monitor braking of the primary brakingsubsystem and regulate braking of the supplemental braking subsystem.

The following features may be present in the system in any reasonablecombination. The supplemental braking management until may include aprocessor and a memory of the supplemental braking management unit. Thesupplemental braking management unit may be configured to regulatebraking of the supplemental braking subsystem independently from brakingof the primary braking subsystem. The memory of the vehicle control unitmay store instructions that cause the processor of the vehicle controlunit to implement the supplemental braking management until configuredto monitor braking of the primary braking subsystem and regulate brakingof the supplemental braking system, in which the instructions areexecuted by the processor of the vehicle control unit. The supplementalbrakes may include anti-lock type brakes. The supplemental brakingmanagement unit may be configured to detect when additional braking isneeded to slow, stop, or both slow and then stop, the autonomousvehicle. The supplemental braking management unit may be configured todetect a malfunction or a failure of the primary braking control moduleand to determine whether to actuate at least some of the supplementalbrakes. The supplemental braking management until is configured tomonitor speed, deceleration, or both speed and deceleration of theautonomous vehicle due to braking of the brakes actuated by the primarybraking control module and to determine whether to actuate thesupplemental brakes at some or all of the wheels of the autonomousvehicle. The supplemental braking management unit may be configured tomonitor one or more control parameters generated by the primary brakingcontrol module and to determine whether to actuate the supplementalbrakes at some or all of the wheels of the autonomous vehicle. Thesupplemental braking management unit may be configured to monitorcontrol of the braking power distributed to the primary brakes by theprimary braking subsystem, as well as to determine whether to actuate atleast some of the supplemental brakes.

A method of managing braking in an autonomous vehicle as described insome embodiments herein includes monitoring braking of a primary brakingsubsystem and regulating braking of a supplemental braking subsystem.The primary braking subsystem includes primary brakes coupled to atleast one wheel of the autonomous vehicle, and the supplemental brakingsubsystem includes supplemental brakes at one or more wheels of theautonomous vehicle.

The following features may be present in the method of managing brakingin an autonomous vehicle in any reasonable combination. Regulatingbraking of the supplemental braking subsystem may be performedindependently from regulating braking of the primary braking subsystem.The method may include detecting a malfunction or a failure in theprimary braking subsystem and determining whether to actuate at leastsome of the supplemental brakes. Monitoring speed, deceleration, or bothspeed and deceleration of the autonomous vehicle due to braking of theprimary brakes may be part of the method. In such a method, monitoringthe speed and/or deceleration of the autonomous vehicle due to brakingmay be accompanied by determining whether to actuate at least some ofthe supplemental brakes. The method may also include monitoring one ormore control parameters generated in the primary braking subsystem; thismonitoring may be accompanied by determining whether to actuate thesupplemental brakes at some or all of the wheels of the autonomousvehicle. The method may include monitoring braking power distributed tothe primary brakes by the primary braking subsystem, along withdetermining whether to actuate the supplemental brakes at some or allwheels of the autonomous vehicle.

A method of producing a supplementary braking system for an autonomousvehicle as described herein includes providing a manufactured vehicleoperable for autonomous driving, augmenting the manufactured vehiclewith a supplemental braking system, and providing a supplemental brakingmanagement unit. The manufactured vehicle includes a vehicle controlunit that includes a processor and a memory. The vehicle control unit isconfigured to provide control signals to subsystems of the manufacturedvehicle. The subsystems of the manufactured vehicle include a steeringsubsystem a throttle subsystem, and a primary braking system. Theprimary braking system includes primary brakes coupled to at least onewheel of the manufactured vehicle. The vehicle control unit is alsoconfigured to provide signals to autonomous control modules configuredto control autonomous driving functionalities of the manufacturedvehicle. The autonomous control modules include a steering controlmodule, a throttle control module, and a primary braking control module.The primary braking control module is configured to control the primarybraking system. The manufactured vehicle with a supplemental brakingsystem includes supplemental brakes at one or more wheels of themanufactured vehicle. The supplemental braking management unit in themanufactured vehicle is in communication with the vehicle control unitso that it monitors braking in the primary braking system and regulatesbraking in the supplemental braking system.

The following features may be present in the method for producing asupplementary braking system for an autonomous vehicle in any reasonablecombination. Components of the supplemental braking system may be addedto the primary brakes on the one or more wheels of the manufacturedvehicle. Hardware, software, or both hardware and software of thesupplemental braking management unit may be installed.

The subject matter described in this patent document can be implementedin specific ways that provide one or more of the following features.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a diagram of an example autonomous vehicle, embodied as asemi-trailer truck (also referred to as a tractor-trailer), equippedwith control systems for autonomous functionalities.

FIG. 2 shows a diagram of an example embodiment of a supplementalbraking management unit in accordance with the present technology.

FIG. 3 shows a diagram of an example embodiment of a method forproducing a supplementary braking system for an autonomous vehicle.

DETAILED DESCRIPTION

Autonomous vehicles can have multiple control systems working integrallyand/or independently to control various modules and subsystems of thevehicle, such as the drivetrain, power steering, vehicle sensors (e.g.,engine temperature sensor, oil pressure sensor, etc.), environmentalsensors to perceive the surroundings (e.g., radar, LIDAR, sonar,inertial measurement units including accelerometers and/or gyroscopesand/or rate sensors, etc.), braking system, and other modules andsubsystems. Like driver-controlled vehicles, existing autonomousvehicles typically have a single braking system that controls thebraking for all of the wheels of the vehicle.

Nearly all cars and trucks operating today employ an anti-lock brakingsystem (ABS) as the primary braking system of the vehicle. An ABS is anautomated system that implements braking based on threshold braking andcadence braking. Most conventional ABS brakes include a centralelectronic control unit (CECU), wheel speed sensors, and hydraulicvalves within a brake hydraulic subsystem. The CECU constantly monitorsthe rotational speed of each wheel to detect and react to potentialwheel lock, e.g., when a wheel rotates relatively slower or faster thanthe vehicle's speed, by actuating the hydraulic valves to reduce orincrease hydraulic pressure to the brake at the detected wheel,respectively, and in turn reduce or increase the braking force on thatwheel. The ABS CECU continuously monitors and rapidly actuates thisprocess in order to prevent the vehicle's wheels from locking up duringbraking. Moreover, existing ABS brakes also provide automated brakeforcedistribution, traction control system, and/or emergency brake assist.

To improve safety of autonomous vehicles, it would be beneficial toinclude more than one braking system on the autonomous vehicle. One wayto provide multiple, independent braking systems on an autonomousvehicle is to design such braking systems and their controls fromscratch, i.e., from the initial design of the overall vehicle. This isboth cumbersome and very costly, in particular for large vehicles likesemi-trailer trucks. Yet, integration of such multiple, independentbraking systems and their controls to the autonomous vehicle's controlunit is challenging and problematic because vehicles are designed toonly have a single, central braking system that is traditionallycontrolled by a human driver. One critical challenge is how to designand implement a closed-loop control of an autonomous vehicle's brakingsystem to make the vehicle perform (drive and stop) with stabilityduring autonomous driving. In particular, it is especially challengingto design and implement such a closed-loop braking control system for asemi-truck, since motion control of a semi-truck is far more difficultas compared to vehicles of other types.

Disclosed are devices, systems, and methods for integrating and managinga supplemental brake control system in autonomous vehicles. In someaspects of the disclosed technology, a supplemental brake managementsystem includes brake control hardware and software that operates with asensing mechanism for determining the brake operational status (of theprimary brakes and/or of the supplemental brakes) and a controlmechanism for activating the supplemental brake control in an autonomousvehicle, which can be implemented in addition to the vehicle's primarybrake control system.

FIG. 1 shows a diagram of an example autonomous vehicle 100, embodied asa semi-trailer truck (also referred to as a tractor-trailer), equippedwith control systems for autonomous functionalities, such as a drivingsystem, a steering system, a braking system and a sensor-basedperception system installed on the autonomous vehicle 100 incommunication with self-driving systems that are controlled by anautonomous vehicle control unit, which are at least partly embodied incomputing device(s) installed on the vehicle, and which may be partlyembodied in remote computing device(s) in communication with thevehicle-installed computing device(s).

In example embodiments as described herein, the autonomous vehicle 100includes a braking system 146C for the vehicle that includes (i) aprimary braking subsystem, which includes brakes (e.g., ABS brakes) atthe wheels of the vehicle (sometimes referred to as “primary brakes”,labeled as 240 in FIG. 2), and (ii) a supplemental braking subsystem,which may include additional brake components (e.g., brakes sometimesreferred to as “supplemental brakes”, labeled as 260 in FIG. 2) at someor all of the wheels of the vehicle and that provides control of theadditional brake components. The supplemental brakes can be, forexample, ABS brakes. The supplemental braking subsystem is coupled toand controlled independently from the primary brakes.

In an example embodiment, an autonomous vehicle 100 can include anin-vehicle control system 150, also referred to as a vehicle controlunit (VCU), which can be in data communication with a plurality ofvehicle subsystems 140 resident in the vehicle 100, including theprimary braking subsystem and the independent supplemental brakingsubsystem. The in-vehicle control system 150 can include a vehiclesubsystem interface 141 to facilitate data communication between thein-vehicle control system 150 and the plurality of vehicle subsystems140. The in-vehicle control system 150 can be configured to include adata processor 171 (also referred to as a first processor or a processorof the vehicle control unit) to execute instructions and data forautonomous vehicle control, including processing data received from oneor more of the vehicle subsystems 140. The data processor 171 can becombined with a data storage device 172 (e.g., a memory, also referredto as a first memory or a memory of the vehicle control unit; the datastorage device 172 can be of any type of a data storage device) as partof a computing system 170 in the in-vehicle control system 150. The datastorage device 172 can be used to store data, processing parameters, anddata processing instructions.

In various embodiments, the vehicle subsystems 140 includes a primarybraking control subsystem, which is in data communication with thein-vehicle control system 150, to control the braking system (e.g., ABSbrakes) of the autonomous vehicle 100. As shown in FIG. 1, thein-vehicle control system 150 can also be in data communication with asupplemental braking management unit 200, which is independent of theautonomous vehicle 100's primary braking control module or subsystem.

In various implementations, for example, the data processor 171 isconfigured to execute instructions and data associated with thesupplemental braking management unit 200. As shown by the dashed linesin FIG. 1, the supplemental braking management unit 200 can beintegrated into the in-vehicle control system 150 or optionallydownloaded to the in-vehicle control system 150 as code that can beexecuted by the data processor 171 of the in-vehicle control system 150to implement functionality of the supplemental braking management unit200. In some embodiments of the in-vehicle control system 150, aprocessing module interface 165 can be provided to facilitate datacommunications between the data processor 171 and the supplementalbraking management unit 200. In some embodiments, the supplementalbraking management unit 200 can include a processor (also referred to asa second processor or a processor of the supplemental braking managementunit) and a memory (also referred to as a second memory or a memory ofthe supplemental braking management unit). FIG. 1 shows the supplementalbraking management unit 200 separate from other vehicle controlsubsystems 146 of the vehicle subsystems 140, for illustration purposes.

The supplemental braking management unit 200 is configured to detectwhen additional braking is warranted or needed to slow and/or stop theautonomous vehicle 100 to supplement the primary braking subsystem(e.g., in conditions when additional braking power is required) or tosubstitute the primary braking subsystem (e.g., in conditions when theprimary braking power is malfunctioning or fails). In someimplementations, for example, the supplemental braking management unit200 monitors the vehicle's speed and deceleration due to primary brakingactuated by the primary braking control subsystem and determines whetherto actuate the supplemental braking subsystem (e.g., apply theindependent supplemental braking) at some or all of the wheels of theautonomous vehicle 100. In some implementations, for example, thesupplemental braking management unit 200 is configured to monitor theprimary braking subsystem's control of the braking power distributed tothe primary brakes and determine whether to actuate the supplementalbraking subsystem at some or all of the wheels of the autonomous vehicle100. In some implementations, for example, the supplemental brakingmanagement unit 200 is configured to monitor one or more controlparameters generated at the primary braking control module and todetermine whether to actuate the supplemental braking subsystem at someor all of the wheels of the autonomous vehicle 100. Example embodimentsof a supplemental braking subsystem, including the supplemental brakes260 and the supplemental braking management unit 200, are discussed infurther detail in connection with FIG. 2.

As illustrated in FIG. 1, the autonomous vehicle 100 may include variousvehicle subsystems such as a vehicle drive subsystem 142, a vehiclesensor subsystem 144, and a vehicle control subsystem 146. Theautonomous vehicle 100 can optionally include an occupant interfacesubsystem 148. The autonomous vehicle 100 may include more or fewersubsystems, and each subsystem could include multiple elements. Further,any of the subsystems and elements of the autonomous vehicle 100 can beinterconnected. Thus, one or more of the described functions of theautonomous vehicle 100 may be divided up into additional functional orphysical components or combined into fewer functional or physicalcomponents. In some further examples, additional functional and physicalcomponents may be added to the examples illustrated by FIG. 1.

The vehicle drive subsystem 142 may include components operable toprovide powered motion for the autonomous vehicle 100. In an exampleembodiment, the vehicle drive subsystem 142 may include an engine ormotor 142A, wheels/tires 142B, a drivetrain 142C including atransmission, electrical subsystem 142D including an alternator, and apower system that includes a power source and energy storage 142E. Theengine or motor 142A may be any combination of an internal combustionengine, an electric motor, steam engine, fuel cell engine, propaneengine, or other types of engines or motors. In some exampleembodiments, the engine may be configured to convert a power source intomechanical energy. In some example embodiments, the vehicle drivesubsystem 142 may include multiple types of engines or motors. Forinstance, a gas-electric hybrid car could include a gasoline engine andan electric motor. Other example embodiments having differentcombinations of various types of motors and/or engines are possible.

The wheels 142B of the autonomous vehicle 100 may be equipped withstandard tires. The wheels of the autonomous vehicle 100 may beconfigured in various formats, including a unicycle, bicycle, tricycle,or a four-wheel format, such as on a car or a truck, for example. Otherwheel geometries are possible, such as those including six or morewheels. Any combination of the wheels of autonomous vehicle 100 may beoperable to rotate differentially with respect to other wheels. Thewheels 142B may represent at least one wheel that is fixedly attached tothe transmission and at least one tire coupled to a rim of the wheelthat could make contact with the driving surface. The wheels 142B mayinclude a combination of metal and rubber, or a combination of any othermaterials. The drivetrain 142C may include elements that are operable totransmit mechanical power from the engine to the wheels. For thispurpose, the drivetrain 142C can include a transmission with a gearbox,a clutch, a differential, and drive shafts. The drivetrain may includeother elements as well. The drive shafts may connect to one or moreaxles that could be coupled to one or more wheels. In some vehicles, amotor may be connected to each axel or each wheel.

The power system 142E of the vehicle drive subsystem 142 may represent asource of energy that may, in full or in part, power the engine or motorand store energy for the vehicle. The power system 142E also providesenergy for other subsystems of the autonomous vehicle 100, typically byan electrical power source. In the embodiment shown in FIG. 1, anelectrical power source includes a battery. Other examples of powersources that can power the engine or motor can include gasoline, diesel,other petroleum-based fuels, propane, other compressed gas-based fuels,ethanol, fuel cell, solar panels, batteries, and other sources ofelectrical power. The power source could additionally or alternativelyinclude any combination of fuel tanks, batteries, capacitors, orflywheels. The electrical system 142D may include elements that areoperable to transfer and control electrical signals in the autonomousvehicle 100. These electrical signals can be used to activate lights,servos, electrical motors, and other electrically driven or controlleddevices of the autonomous vehicle 100.

The vehicle sensor subsystem 144 may include a number of sensorsconfigured to sense information or perception data related to anenvironment or condition of the autonomous vehicle 100. For example, thevehicle sensor subsystem 144 may include an inertial measurement unit(IMU) 144A, a Global Positioning System (GPS) transceiver 144B, a RADARunit 144C, a laser range finder/LIDAR unit 144C, a braking sensor 144D,and one or more cameras or image capture devices 144E. The vehiclesensor subsystem 144 may also include sensors configured to monitorinternal systems and/or subsystems of the autonomous vehicle 100 (e.g.,an O₂ monitor, a fuel gauge, an engine oil temperature). Other sensorsare possible as well. One or more of the sensors included in the vehiclesensor subsystem 144 may be configured to be actuated separately orcollectively in order to modify a position, an orientation, or both, ofthe one or more sensors.

The IMU 144A may include any combination of sensors (e.g.,accelerometers and gyroscopes) configured to sense position andorientation changes of the autonomous vehicle 100 based on inertialacceleration. The GPS transceiver 144B may be any sensor configured toestimate a geographic location of the autonomous vehicle 100. For thispurpose, the GPS transceiver 144A may include a receiver/transmitteroperable to provide information regarding the position of the autonomousvehicle 100 with respect to the Earth. The RADAR unit 144C may representa system that utilizes radio signals to sense objects within the localenvironment of the autonomous vehicle 100. In some embodiments, inaddition to sensing the objects, the RADAR 144C unit may additionally beconfigured to sense the speed and the heading of the objects proximateto the autonomous vehicle 100. The laser range finder or LIDAR unit 144Cmay be any sensor configured to sense objects in the environment inwhich the autonomous vehicle 100 is located using lasers. In an exampleembodiment, the laser range finder/LIDAR unit 144C may include one ormore laser sources, a laser scanner, and one or more detectors, amongother components. The laser range finder/LIDAR unit 144C could beconfigured to operate in a coherent (e.g., using heterodyne detection)or an incoherent detection mode. The cameras 144E may include one ormore devices configured to capture a plurality of images of theenvironment of the autonomous vehicle 100. The cameras 144E may be stillimage cameras or motion video cameras.

The vehicle control subsystem 146 may be configured to control operationof the autonomous vehicle 100 and its components. Accordingly, thevehicle control subsystem 146 may include various elements such as asteering unit 146A, a throttle 146B, a braking unit 146C (which caninclude the primary brake control subsystem that controls the primarybrakes 240), a navigation unit 146D, and a main autonomous control unit146E. The steering unit 146A may represent any combination of mechanismsthat may be operable to adjust the heading of autonomous vehicle 100.The throttle 146B may be configured to control, for instance, theoperating speed of the engine and, in turn, control the speed of theautonomous vehicle 100. In an internal combustion engine, the throttle146B may control the fuel supplied to a vehicle's engine duringcombustion. The braking unit 146C can include any combination ofmechanisms configured to decelerate the autonomous vehicle 100. Thebrake unit 146C can use friction to slow the wheels in a standardmanner. In other embodiments, the brake unit 146C may convert thekinetic energy of the wheels to electric current. The brake unit 146Cmay take other forms as well. The navigation unit 146D may be any systemconfigured to determine a driving path or route for the autonomousvehicle 100. The navigation unit 146D may additionally be configured toupdate the driving path dynamically while the autonomous vehicle 100 isin operation. In some embodiments, the navigation unit 146D may beconfigured to incorporate data from a GPS transceiver and/or one or morepredetermined maps so as to determine the driving path for theautonomous vehicle 100.

The vehicle control subsystem 146 can include a main control unit 146Econfigured to identify, evaluate, and avoid or otherwise negotiatepotential obstacles in the environment of the autonomous vehicle 100. Ingeneral, the main control unit 146E may be configured to control theautonomous vehicle 100 for operation without a driver or to providedriver assistance in controlling the autonomous vehicle 100. In someembodiments, the main autonomous control 146E unit may be configured toincorporate data from the GPS transceiver 144B, the RADAR, the LIDAR144C, the cameras 144E, and/or other vehicle subsystems to determine adriving path or trajectory for the autonomous vehicle 100. The vehiclecontrol subsystem 146 may additionally or alternatively includecomponents other than those shown and described.

The optional occupant interface subsystems 148 may be configured toallow interaction between the autonomous vehicle 100 and externalsensors, other vehicles, other computer systems, and/or an occupant oruser of the autonomous vehicle 100. For example, the occupant interfacesubsystems 148 may include standard visual display devices 148A,speakers or other audio output devices 148B, microphones or other audioinput devices 148C, navigation interfaces 148D, and interfaces forcontrolling the internal environment 148E (e.g., temperature, fan, etc.)of the autonomous vehicle 100. The visual display devices 148A mayinclude any of plasma displays, liquid crystal displays (LCDs),touchscreen displays, heads-up displays, or the like.

In some embodiments of the in-vehicle control system 150, a web-enableddevice interface 131 can be provided to facilitate data communicationsbetween the in-vehicle control system 150 and an external network (notshown) via a web-enabled device of the autonomous vehicle 100 (notshown). The external network can be a network of computers incommunication with each other, including the cloud. Similarly, in someembodiments of the in-vehicle control system 150, a user mobile deviceinterface 133 can be provided to facilitate data communication betweenthe in-vehicle control system 150 and the external network via a usermobile device (not shown). In this manner, the in-vehicle control system150 can obtain real-time access to network resources via the externalnetwork, which can be used to obtain, for example, processing modulesfor execution by data processor 171, data content to train internalneural networks of the in-vehicle control system 150 and/or othersystems and/or subsystems of the autonomous vehicle 100, systemparameters, or other data.

FIG. 2 shows a diagram of an example embodiment of an autonomous vehiclebraking system that includes the supplemental braking management unit200 in communication with the supplemental braking subsystem(supplemental brakes) 260, and the primary braking control subsystem146C in communication with the primary braking subsystem (primarybrakes) 240. The supplemental braking management unit 200 and theprimary braking control subsystem 146C are both in data communicationwith the in-vehicle control system 150 (e.g., via the processing moduleinterface 165 in FIG. 1). As illustrated by the dashed line 298, in someoptional embodiments, the supplemental braking management unit 200 canbe configured in communication with the primary braking controlsubsystem 146C, e.g., for monitoring the control process of the primarybrakes 240 in order to regulate actuation of the supplemental brakes260. As illustrated by the dashed line 299, in some optionalembodiments, the supplemental braking management unit 200 can beconfigured in communication with the engine/motor 142A of the autonomousvehicle 100 (and/or other elements of the vehicle drive subsystem 142),e.g., for monitoring various driving parameters including speed of thevehicle.

The example embodiment of the autonomous vehicle braking system shown inFIG. 2 illustrates the supplemental braking management unit 200configured on the autonomous vehicle 100 having multiple independentbraking systems, in which the supplemental braking management unit 200is able to regulate the braking of one of the independent brakingsystems with or without feedback or another type of communication orinformation from the other(s) of the independent braking systems. Inthis configuration, the supplemental braking management unit 200 isoperable to regulate the braking power distribution to some or all ofthe wheels independently from the primary braking system that isautonomously controlled to brake in conventional braking practices forautonomous driving. In some embodiments, the supplemental brakingsubsystem 260 (supplemental brakes) can include certain additionalbraking components, e.g., secondary air valves, to couple to and augmentthe function of the braking disk/drum of the primary braking subsystem240 (primary brakes).

FIG. 3 shows a diagram of an example embodiment of a method forproducing a supplemental braking system for an autonomous vehicle,labeled 300. In some implementations of the method 300, the manufacturedvehicle includes a semi-trailer truck. The method 300 includes a process310 for providing a manufactured vehicle operable for autonomousdriving. In some implementations, the manufactured vehicle may include avehicle control unit (VCU), e.g., like the in-vehicle control system150, which comprises a processor and memory and is configured to providecontrol signals to (i) main subsystems of a vehicle and (ii) autonomouscontrol modules of the vehicle. For example, the autonomous controlmodules that control autonomous driving functionalities of theautonomous vehicle can include a steering control module, a throttlecontrol module and a primary braking control module, in which theprimary braking control module is configured to control a primarybraking system that serves as the standard, main brakes of themanufactured vehicle. For example, the primary braking system caninclude the main brakes coupled to at least some wheels of theautonomous vehicle.

In some embodiments, for example, the process 310 can include obtaininga fully-manufactured autonomous vehicle from a manufacturer or fromanother party (e.g., after market). Yet, in some embodiments, forexample, the process 310 can include obtaining a pre-manufacturedvehicle, in which the pre-manufactured vehicle is partially autonomous.In some embodiments, for example, the process 310 can include obtaininga functional non-autonomous or partially-autonomous vehicle andinstalling the VCU to make it an autonomous vehicle.

The method 300 includes a process 320 for augmenting the manufacturedvehicle with a supplemental braking system that interfaces with aprimary braking system, the supplemental braking system comprisingbrakes (supplemental brakes) coupled to one or more of the wheels of theautonomous vehicle. In some embodiments, for example, the process 320can include installing and/or adding supplemental braking components ofthe supplemental braking system to the primary braking system on the oneor more wheels of the manufactured vehicle; whereas in some embodiments,the process 320 can include testing of previously-installed supplementalbrakes on the one or more wheels.

The method 300 includes a process 330 for configuring a supplementalbraking management unit in the manufactured vehicle, wherein thesupplemental braking management unit is in communication with thevehicle control unit (VCU) for (i) monitoring braking of the primarybaking subsystem and (ii) independently regulating braking of thesupplemental braking system. In some embodiments, for example, theprocess 330 includes installing hardware and/or software of thesupplemental braking management unit (e.g., which can include aprocessor and a memory and/or software code comprising instructionsexecutable by a processor and storable on a memory).

In some implementations of the method 300, for example, the supplementalbraking management unit is configured to detect a malfunction or afailure of the primary braking control module and to determine whetherto actuate the supplemental braking system to engage the vehicle'sbrakes. In some implementations of the method 300, for example, thesupplemental braking management unit is configured to monitor speedand/or deceleration of the autonomous vehicle due to braking of thebrakes actuated by the primary braking control module and to determinewhether to actuate the supplemental braking system to engage thevehicle's brakes. In some implementations of the method 300, forexample, the supplemental braking management unit is configured tomonitor one or more control parameters generated at the primary brakingcontrol module and to determine whether to actuate at least some of thevehicle's brakes.

One aspect of the disclosed technology relates to a system for managingbraking in an autonomous vehicle, comprising: a vehicle control unitcomprising a processor and a memory of the vehicle control unit, whereinthe vehicle control unit is configured to provide control signals to (i)subsystems of the autonomous vehicle including a steering subsystem, athrottle subsystem and a primary braking subsystem including primarybrakes coupled to at least one wheel of the autonomous vehicle, and (ii)autonomous control modules configured to control autonomous drivingfunctionalities of the autonomous vehicle, wherein the autonomouscontrol modules include a steering control module, a throttle controlmodule and a primary braking control module, and wherein the primarybraking control module is in communication with the primary brakingsubsystem; a supplemental braking subsystem including supplementalbrakes at one or more wheels of the autonomous vehicle; and asupplemental braking management unit configured to (i) monitor brakingof the primary braking subsystem and (ii) regulate braking of thesupplemental braking subsystem.

In some embodiments of the system for managing braking in an autonomousvehicle, the supplemental braking management unit includes a processorand a memory of the supplemental braking management unit. In someexample embodiments, the supplemental braking management unit isconfigured to regulate braking of the supplemental braking subsystemindependently from braking of the primary braking subsystem. Accordingto another example embodiment, the memory of the vehicle control unitstores instructions that, when executed by the processor of the vehiclecontrol unit, cause the processor of the vehicle control unit toimplement the supplemental braking management unit configured to (i)monitor braking of the primary braking subsystem and (ii) regulatebraking of the supplemental braking subsystem.

In some embodiments, the supplemental brakes include anti-lock typebrakes. In yet another example embodiment, the supplemental brakingmanagement unit is configured to detect when additional braking isneeded to slow and/or to stop the autonomous vehicle. In an exampleembodiment, the supplemental braking management unit is configured todetect a malfunction or a failure of the primary braking control moduleand to determine whether to actuate at least some of the supplementalbrakes. In some example embodiments, the supplemental braking managementunit is configured to monitor speed and/or deceleration of theautonomous vehicle due to braking of the brakes actuated by the primarybraking control module and to determine whether to actuate thesupplemental brakes at some or all of the wheels of the autonomousvehicle. According to an example embodiment, the supplemental brakingmanagement unit is configured to monitor one or more control parametersgenerated by the primary braking control module and to determine whetherto actuate the supplemental brakes at some or all of the wheels of theautonomous vehicle. In yet another example embodiment, the supplementalbraking management unit is configured to monitor the primary brakingsubsystem's control of the braking power distributed to the primarybrakes and determine whether to actuate at least some of thesupplemental brakes.

Another aspect of the disclosed technology relates to a method ofmanaging braking in an autonomous vehicle, comprising: monitoringbraking of a primary braking subsystem and regulating braking of asupplemental braking subsystem, wherein the primary braking subsystemincludes primary brakes coupled to at least one wheel of the autonomousvehicle, and wherein the supplemental braking subsystem includessupplemental brakes at one or more wheels of the autonomous vehicle.

In some example embodiments of the method of managing braking in anautonomous vehicle, the regulating braking of the supplemental brakingsubsystem is performed independently from regulating braking of theprimary braking subsystem. In an example embodiment, the method ofmanaging braking in an autonomous vehicle further comprises detecting amalfunction or a failure in the primary braking subsystem anddetermining whether to actuate at least some of the supplemental brakes.In another example embodiment, the method of managing braking in anautonomous vehicle further comprises monitoring speed and/ordeceleration of the autonomous vehicle due to braking of the primarybrakes and determining whether to actuate at least some of thesupplemental brakes. In yet another example embodiment, the method ofmanaging braking in an autonomous vehicle further comprises monitoringone or more control parameters generated in the primary brakingsubsystem and determining whether to actuate the supplemental brakes atsome or all of the wheels of the autonomous vehicle. According to anexample embodiment, the method of managing braking in an autonomousvehicle further comprises monitoring the primary braking subsystem'scontrol of the braking power distributed to the primary brakes anddetermining whether to actuate the supplemental brakes at some or allwheels of the autonomous vehicle.

Yet another aspect of the disclosed technology relates to a method ofproducing a supplementary braking system for an autonomous vehicle,comprising: providing a manufactured vehicle operable for autonomousdriving, the manufactured vehicle including a vehicle control unitcomprising a processor and a memory of the vehicle control unit, thevehicle control unit configured to provide control signals to (i)subsystems of the manufactured vehicle including a steering subsystem, athrottle subsystem and a primary braking system including primary brakescoupled to at least one wheel of the manufactured vehicle, and (ii)autonomous control modules configured to control autonomous drivingfunctionalities of the manufactured vehicle, wherein the autonomouscontrol modules include a steering control module, a throttle controlmodule and a primary braking control module, and wherein the primarybraking control module is configured to control the primary brakingsystem; augmenting the manufactured vehicle with a supplemental brakingsystem including supplemental brakes at one or more wheels of themanufactured vehicle; and providing a supplemental braking managementunit in the manufactured vehicle that is in communication with thevehicle control unit for (i) monitoring braking in the primary brakingsystem and (ii) regulating braking in the supplemental braking system.

In some example embodiments, the method of producing a supplementarybraking system for an autonomous vehicle further comprises addingcomponents of the supplemental braking system to the primary brakes onthe one or more wheels of the manufactured vehicle. In an exampleembodiment, the method of producing a supplementary braking system foran autonomous vehicle further comprises installing hardware and/orsoftware of the supplemental braking management unit. According to someexample embodiments, the manufactured vehicle includes a semi-trailertruck.

Implementations of the subject matter and the functional operationsdescribed in this patent document can be implemented in various systems,digital electronic circuitry, or in computer software, firmware, orhardware, including the structures disclosed in this specification andtheir structural equivalents, or in combinations of one or more of them.Implementations of the subject matter described in this specificationcan be implemented as one or more computer program products, i.e., oneor more modules of computer program instructions encoded on a tangibleand non-transitory computer readable medium for execution by, or tocontrol the operation of, data processing apparatus. The computerreadable medium can be a machine-readable storage device, amachine-readable storage substrate, a memory device, a composition ofmatter effecting a machine-readable propagated signal, or a combinationof one or more of them. The term “data processing unit” or “dataprocessing apparatus” encompasses all apparatus, devices, and machinesfor processing data, including by way of example a programmableprocessor, a computer, or multiple processors or computers. Theapparatus can include, in addition to hardware, code that creates anexecution environment for the computer program in question, e.g., codethat constitutes processor firmware, a protocol stack, a databasemanagement system, an operating system, or a combination of one or moreof them.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, and it can bedeployed in any form, including as a stand-alone program or as a module,component, subroutine, or other unit suitable for use in a computingenvironment. A computer program does not necessarily correspond to afile in a file system. A program can be stored in a portion of a filethat holds other programs or data (e.g., one or more scripts stored in amarkup language document), in a single file dedicated to the program inquestion, or in multiple coordinated files (e.g., files that store oneor more modules, sub programs, or portions of code). A computer programcan be deployed to be executed on one computer or on multiple computersthat are located at one site or distributed across multiple sites andinterconnected by a communication network.

The processes and logic flows described in this specification can beperformed by one or more programmable processors executing one or morecomputer programs to perform functions by operating on input data andgenerating output. The processes and logic flows can also be performedby, and apparatus can also be implemented as, special purpose logiccircuitry, e.g., an FPGA (field programmable gate array) or an ASIC(application specific integrated circuit).

Processors suitable for the execution of a computer program include, byway of example, both general and special purpose microprocessors, andany one or more processors of any kind of digital computer. Generally, aprocessor will receive instructions and data from a read only memory ora random access memory or both. The essential elements of a computer area processor for performing instructions and one or more memory devicesfor storing instructions and data. Generally, a computer will alsoinclude, or be operatively coupled to receive data from or transfer datato, or both, one or more mass storage devices for storing data, e.g.,magnetic, magneto optical disks, or optical disks. However, a computerneed not have such devices. Computer readable media suitable for storingcomputer program instructions and data include all forms of nonvolatilememory, media and memory devices, including by way of examplesemiconductor memory devices, e.g., EPROM, EEPROM, and flash memorydevices. The processor and the memory can be supplemented by, orincorporated in, special purpose logic circuitry.

It is intended that the specification, together with the drawings, beconsidered exemplary only, where exemplary means an example. As usedherein, the singular forms “a”, “an” and “the” are intended to includethe plural forms as well, unless the context clearly indicatesotherwise. Additionally, the use of “or” is intended to include“and/or”, unless the context clearly indicates otherwise.

While this patent document contains many specifics, these should not beconstrued as limitations on the scope of any invention or of what may beclaimed, but rather as descriptions of features that may be specific toparticular embodiments of particular inventions. Certain features thatare described in this patent document in the context of separateembodiments can also be implemented in combination in a singleembodiment. Conversely, various features that are described in thecontext of a single embodiment can also be implemented in multipleembodiments separately or in any suitable subcombination. Moreover,although features may be described above as acting in certaincombinations and even initially claimed as such, one or more featuresfrom a claimed combination can in some cases be excised from thecombination, and the claimed combination may be directed to asubcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particularorder, this should not be understood as requiring that such operationsbe performed in the particular order shown or in sequential order, orthat all illustrated operations be performed, to achieve desirableresults. Moreover, the separation of various system components in theembodiments described in this patent document should not be understoodas requiring such separation in all embodiments.

Only a few implementations and examples are described and otherimplementations, enhancements and variations can be made based on whatis described and illustrated in this patent document.

What is claimed is:
 1. A system for managing braking in an autonomousvehicle, comprising: a vehicle control unit comprising a processor and amemory of the vehicle control unit, wherein the vehicle control unit isconfigured to provide control signals to (i) subsystems of theautonomous vehicle including a steering subsystem, a throttle subsystemand a primary braking subsystem including primary brakes coupled to atleast one wheel of the autonomous vehicle, and (ii) autonomous controlmodules configured to control autonomous driving functionalities of theautonomous vehicle, wherein the autonomous control modules include asteering control module, a throttle control module and a primary brakingcontrol module, and wherein the primary braking control module is incommunication with the primary braking subsystem; a supplemental brakingsubsystem including supplemental brakes at one or more wheels of theautonomous vehicle; and a supplemental braking management unitconfigured to (i) monitor braking of the primary braking subsystem and(ii) regulate braking of the supplemental braking subsystem.
 2. Thesystem of claim 1, wherein the supplemental braking management unitincludes a processor and a memory of the supplemental braking managementunit.
 3. The system of claim 1, wherein the supplemental brakingmanagement unit is configured to regulate braking of the supplementalbraking subsystem independently from braking of the primary brakingsubsystem.
 4. The system of claim 1, wherein the memory of the vehiclecontrol unit stores instructions that, when executed by the processor ofthe vehicle control unit, cause the processor of the vehicle controlunit to implement the supplemental braking management unit configured to(i) monitor braking of the primary braking subsystem and (ii) regulatebraking of the supplemental braking subsystem.
 5. The system of claim 1,wherein the supplemental brakes include anti-lock type brakes.
 6. Thesystem of claim 1, wherein the supplemental braking management unit isconfigured to detect when additional braking is needed to slow and/or tostop the autonomous vehicle.
 7. The system of claim 1, wherein thesupplemental braking management unit is configured to detect amalfunction or a failure of the primary braking control module and todetermine whether to actuate at least some of the supplemental brakes.8. The system of claim 1, wherein the supplemental braking managementunit is configured to monitor speed and/or deceleration of theautonomous vehicle due to braking of the brakes actuated by the primarybraking control module and to determine whether to actuate thesupplemental brakes at some or all of the wheels of the autonomousvehicle.
 9. The system of claim 1, wherein the supplemental brakingmanagement unit is configured to monitor one or more control parametersgenerated by the primary braking control module and to determine whetherto actuate the supplemental brakes at some or all of the wheels of theautonomous vehicle.
 10. The system of claim 1, wherein the supplementalbraking management unit is configured to monitor the primary brakingsubsystem's control of the braking power distributed to the primarybrakes and determine whether to actuate at least some of thesupplemental brakes.
 11. A method of managing braking in an autonomousvehicle, comprising: monitoring braking of a primary braking subsystemand regulating braking of a supplemental braking subsystem, wherein theprimary braking subsystem includes primary brakes coupled to at leastone wheel of the autonomous vehicle, and wherein the supplementalbraking subsystem includes supplemental brakes at one or more wheels ofthe autonomous vehicle.
 12. The method of claim 11, wherein theregulating braking of the supplemental braking subsystem is performedindependently from regulating braking of the primary braking subsystem.13. The method of claim 11, further comprising detecting a malfunctionor a failure in the primary braking subsystem and determining whether toactuate at least some of the supplemental brakes.
 14. The method ofclaim 11, further comprising monitoring speed and/or deceleration of theautonomous vehicle due to braking of the primary brakes and determiningwhether to actuate at least some of the supplemental brakes.
 15. Themethod of claim 11, further comprising monitoring one or more controlparameters generated in the primary braking subsystem and determiningwhether to actuate the supplemental brakes at some or all of the wheelsof the autonomous vehicle.
 16. The method of claim 11, furthercomprising monitoring the primary braking subsystem's control of thebraking power distributed to the primary brakes and determining whetherto actuate the supplemental brakes at some or all wheels of theautonomous vehicle.
 17. A method of producing a supplementary brakingsystem for an autonomous vehicle, comprising: providing a manufacturedvehicle operable for autonomous driving, the manufactured vehicleincluding a vehicle control unit comprising a processor and a memory ofthe vehicle control unit, the vehicle control unit configured to providecontrol signals to (i) subsystems of the manufactured vehicle includinga steering subsystem, a throttle subsystem and a primary braking systemincluding primary brakes coupled to at least one wheel of themanufactured vehicle, and (ii) autonomous control modules configured tocontrol autonomous driving functionalities of the manufactured vehicle,wherein the autonomous control modules include a steering controlmodule, a throttle control module and a primary braking control module,and wherein the primary braking control module is configured to controlthe primary braking system; augmenting the manufactured vehicle with asupplemental braking system including supplemental brakes at one or morewheels of the manufactured vehicle; and providing a supplemental brakingmanagement unit in the manufactured vehicle that is in communicationwith the vehicle control unit for (i) monitoring braking in the primarybraking system and (ii) regulating braking in the supplemental brakingsystem.
 18. The method of claim 17, further comprising adding componentsof the supplemental braking system to the primary brakes on the one ormore wheels of the manufactured vehicle.
 19. The method of claim 17,further comprising installing hardware and/or software of thesupplemental braking management unit.
 20. The method of claim 17,wherein the manufactured vehicle includes a semi-trailer truck.